Landmark Based Positioning

1. A method for position estimation of an imaging device, the method comprising: identifying a landmark in an image obtained from the imaging device positioned at a device location, wherein the imaging device is in a pose during a time that the image is obtained; obtaining pose parameters corresponding to the pose of the imaging device; determining, using a processor, a virtual two-dimensional image of a view from a viewpoint at the landmark based, at least in part, on the pose parameters, wherein the view from the viewpoint corresponds to an area as viewed from a perspective at a first location of the landmark in a direction toward the imaging device; and estimating the device location based, at least in part, on the virtual two-dimensional image.

2. The method of claim 1 , wherein the estimating of the device location is based, at least in part, on a selection of portions of the virtual two-dimensional image.

3. The method of claim 1 , wherein the determining of the virtual two-dimensional image is based, at least in part, on a three-dimensional representation of a region having a plurality of graphic primitives, wherein at least one of the plurality of graphic primitives comprises an attribute.

4. The method of claim 1 , wherein the determining of the virtual two-dimensional image is based, at least in part, on a three-dimensional representation of a region having a plurality of graphic primitives, wherein at least one of the plurality of graphic primitives comprises an attribute, wherein at least a portion of the three-dimensional representation of the region is color coded, and wherein the attribute is based, at least in part, on a value corresponding to the color coding.

5. The method of claim 4 , wherein the at least the portion of the three-dimensional representation of the region is color coded according to a RGB color model, and wherein the value of the attribute is based, at least in part, on a RGB triplet value.

6. The method of claim 1 , wherein the determining of the virtual two-dimensional image includes rendering the virtual two-dimensional image using a frame buffer.

7. The method of claim 1 , wherein the determining of the virtual two-dimensional image comprises rendering the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region, the method further comprising: rendering a map to create the three-dimensional representation of the region.

8. The method of claim 1 , wherein the landmark is disposed in a building having a plurality of floors disposed at a plurality of elevations, wherein the landmark is disposed on a first one of the plurality of floors, and wherein the device location of the imaging device is on a second one of the plurality of floors different from the first one of the plurality of floors.

9. An apparatus comprising: a memory; and one or more processors in communication with the memory, wherein the one or more processors are configured to: identify a landmark in an image obtained by the apparatus positioned at an apparatus location, wherein the apparatus is in a pose during a time that the image is obtained; obtain pose parameters corresponding to the pose of the apparatus; determine a virtual two-dimensional image of a view from a viewpoint at the landmark based, at least in part, on the pose parameters, wherein the view from the viewpoint corresponds to an area as viewed from a perspective at a first location of the landmark in a direction toward the apparatus; and estimate the apparatus location based, at least in part, on the virtual two-dimensional image.

10. The apparatus of claim 9 wherein the one or more processors are further configured to determine the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region having a plurality of graphic primitives, wherein at least one of the plurality of graphic primitives comprises an attribute.

11. The apparatus of claim 9 wherein the one or more processors are further configured to determine the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region having a plurality of graphic primitives, wherein at least one of the plurality of graphic primitives comprises an attribute, wherein at least a portion of the three-dimensional representation of the region is color coded, and wherein the attribute is based, at least in part, on a value corresponding to the color coding.

12. The apparatus of claim 11 , wherein the at least the portion of the three-dimensional representation of the region is color coded according to a RGB color model, and wherein the value of the attribute is based, at least in part, on a RGB triplet value.

13. The apparatus of claim 9 , wherein the one or more processors are further configured to determine the virtual two-dimensional image by rendering the virtual two-dimensional image using a frame buffer.

14. The apparatus of claim 9 , wherein the one or more processors are further configured to: determine the virtual two-dimensional image by rendering the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region; and render a map to create the three-dimensional representation of the region.

15. A non-transitory, computer-readable, storage medium comprising machine-readable instructions stored thereon which are executable by a special purpose computing apparatus, comprising: code to identify a landmark in an image obtained by the special purpose computing apparatus positioned at an apparatus location, wherein the special purpose computing apparatus is in a pose during a time that the image is obtained; code to obtain pose parameters corresponding to the pose of the special purpose computing apparatus; code to determine a virtual two-dimensional image of a view from a viewpoint at the landmark based, at least in part, on the pose parameters, wherein the view from the viewpoint corresponds to an area as viewed from a perspective at a first location of the landmark in a direction toward the special purpose computing apparatus; and code to estimate the apparatus location based, at least in part, on the virtual two-dimensional image.

16. The non-transitory, computer-readable, storage medium of claim 15 wherein the code to determine the virtual two-dimensional image includes code to render the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region.

17. The non-transitory, computer-readable, storage medium of claim 15 wherein the code to determine the virtual two-dimensional image includes code to determine the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region having a plurality of graphic primitives, wherein at least one of the plurality of graphic primitives comprises an attribute, wherein at least a portion of the three-dimensional representation of the region is color coded, and wherein the attribute is based, at least in part, on a value corresponding to the color coding.

18. The non-transitory, computer-readable, storage medium of claim 17 , wherein the at least the portion of the three-dimensional representation of the region is color coded according to a RGB color model, and wherein the value of the attribute is based, at least in part, on a RGB triplet value.

19. The non-transitory, computer-readable, storage medium of claim 15 wherein the code to determine the virtual two-dimensional image includes code to render the virtual two-dimensional image using a frame buffer.

20. The non-transitory, computer-readable, storage medium of claim 15 wherein the code to determine the virtual two-dimensional image includes code to render the virtual two-dimensional image based, at least in part, on a three-dimensional representation of a region, and wherein the non-transitory, computer-readable, storage medium further comprises: code to render a map to create the three-dimensional representation of the region.